Please use this identifier to cite or link to this item: https://doi.org/10.1109/tie.2020.3008378
Title: Towards Autonomy of Micro Aerial Vehicles in Unknown and GPS-denied Environments
Authors: Zhou, Yu 
Lai, Shupeng 
Cheng, Huimin 
Abdul Hamid, Mohamed Redhwan
Wang, Pengfei 
Zhu, Junji 
Gao, Zhi 
Ma, Zhengtian 
Bi, Yingcai 
Lin, Feng 
Chen, Ben M 
Issue Date: 25-Jul-2020
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Citation: Zhou, Yu, Lai, Shupeng, Cheng, Huimin, Abdul Hamid, Mohamed Redhwan, Wang, Pengfei, Zhu, Junji, Gao, Zhi, Ma, Zhengtian, Bi, Yingcai, Lin, Feng, Chen, Ben M (2020-07-25). Towards Autonomy of Micro Aerial Vehicles in Unknown and GPS-denied Environments. IEEE Transactions on Industrial Electronics : 1-1. ScholarBank@NUS Repository. https://doi.org/10.1109/tie.2020.3008378
Abstract: In this paper, we present a comprehensive design and implementation for a micro aerial vehicle (MAV) that is able to perform 3D autonomous navigation and obstacle avoidance in cluttered and realistic unknown environments without the aid of GPS and other external sensors or markers. To achieve these autonomous missions, modularized components are developed for the MAV, including visual inertial odometry (VIO), 3D occupancy mapping and motion planning. The proposed system is implemented to run on a small embedded computer in real-time. It is demonstrated to be robust in both simulation and real flight experiments. The demonstration video is available at: https://youtu.be/KUKzsnORm-4.
Source Title: IEEE Transactions on Industrial Electronics
URI: https://scholarbank.nus.edu.sg/handle/10635/171731
ISSN: 02780046
15579948
DOI: 10.1109/tie.2020.3008378
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